Publication: Redesigning SLAM for Arbitrary Multi-Camera Systems
Redesigning SLAM for Arbitrary Multi-Camera Systems
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Kuo, J., Muglikar, M., Zhang, Z., & Scaramuzza, D. (2020). Redesigning SLAM for Arbitrary Multi-Camera Systems. 2116–2122. https://doi.org/10.1109/icra40945.2020.9197553
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Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we aim at an adaptive SLAM system that works for arbitrary multi-camera setups. To this end, we revisit several common building blocks in visual SLAM. In particular, we propose an adaptive initialization scheme, a sensor-agnostic, information- theoretic keyframe selection algorithm, and a scalable voxel-
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- Kuo, Juichung
- Muglikar, Manasi
- Zhang, Zichao
- Scaramuzza, Davide
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Kuo, J., Muglikar, M., Zhang, Z., & Scaramuzza, D. (2020). Redesigning SLAM for Arbitrary Multi-Camera Systems. 2116–2122. https://doi.org/10.1109/icra40945.2020.9197553
